// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

/**
 * @file HelloWorldPublisher.cpp
 *
 */

#include "HelloWorldPublisher.h"

#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h>
#include <fastdds/rtps/transport/UDPv4TransportDescriptor.h>

#include <thread>
#include "../FastDDSDataType/TestData.h"

using namespace eprosima::fastdds::dds;
using namespace eprosima::fastdds::rtps;
using namespace eprosima::fastrtps::rtps;

HelloWorldPublisher::HelloWorldPublisher()
    : participant_(nullptr)
    , publisher_(nullptr)
    , topic_(nullptr)
    , writer_(nullptr)
    , type_(new TestStringPubSubType())
{
}

bool HelloWorldPublisher::init()
{
    hello_ = std::make_shared<TestString>();
    //hello_->index(0);
    //hello_->message("HelloWorld");

    //CREATE THE PARTICIPANT
    DomainParticipantQos pqos;
    pqos.wire_protocol().builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::SIMPLE;
    pqos.wire_protocol().builtin.discovery_config.use_SIMPLE_EndpointDiscoveryProtocol = true;
    pqos.wire_protocol().builtin.discovery_config.m_simpleEDP.use_PublicationReaderANDSubscriptionWriter = true;
    pqos.wire_protocol().builtin.discovery_config.m_simpleEDP.use_PublicationWriterANDSubscriptionReader = true;
    pqos.wire_protocol().builtin.discovery_config.leaseDuration = eprosima::fastrtps::c_TimeInfinite;
    
    pqos.name("Participant_pub");

    // SharedMem transport configuration
    pqos.transport().use_builtin_transports = false;

    auto shm_transport = std::make_shared<SharedMemTransportDescriptor>();
    shm_transport->segment_size(4 * 1024 * 1024);
    pqos.transport().user_transports.push_back(shm_transport);

    // UDP
    //auto udp_transport = std::make_shared<UDPv4TransportDescriptor>();
    //udp_transport->interfaceWhiteList.push_back("127.0.0.1");
    //pqos.transport().user_transports.push_back(udp_transport);

    participant_ = DomainParticipantFactory::get_instance()->create_participant(0, pqos);

    if (participant_ == nullptr)
    {
        return false;
    }

    //REGISTER THE TYPE
    type_.register_type(participant_);

    //CREATE THE PUBLISHER
    publisher_ = participant_->create_publisher(PUBLISHER_QOS_DEFAULT);

    if (publisher_ == nullptr)
    {
        return false;
    }

    //CREATE THE TOPIC
    topic_ = participant_->create_topic("HelloWorldSharedMemTopic", "TestString", TOPIC_QOS_DEFAULT);

    if (topic_ == nullptr)
    {
        return false;
    }    

    //CREATE THE DATAWRITER
    DataWriterQos wqos;
    wqos.history().kind = KEEP_LAST_HISTORY_QOS;
    wqos.history().depth = 30;
    //wqos.resource_limits().max_samples = 50;
    //wqos.resource_limits().allocated_samples = 20;
    wqos.reliable_writer_qos().times.heartbeatPeriod.seconds = 2;
    wqos.reliable_writer_qos().times.heartbeatPeriod.nanosec = 200 * 1000 * 1000;
    wqos.reliability().kind = RELIABLE_RELIABILITY_QOS;
    wqos.publish_mode().kind = ASYNCHRONOUS_PUBLISH_MODE;
    
    //wqos.durability().kind = TRANSIENT_LOCAL_DURABILITY_QOS;
    wqos.endpoint().history_memory_policy = PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
    //wqos.endpoint().history_memory_policy = DYNAMIC_RESERVE_MEMORY_MODE;

    writer_ = publisher_->create_datawriter(topic_, wqos, &listener_);

    if (writer_ == nullptr)
    {
        return false;
    }

    /* ******************************************************************
    *   second topic
    ****************************************************************** */

    topic2 = participant_->create_topic("SHMTopic2", type_.get_type_name(), TOPIC_QOS_DEFAULT);

    if (topic2 == nullptr) {
        return false;
    }

    writer2 = publisher_->create_datawriter(topic2, wqos, &listener2);

    if (writer2 == nullptr) {
        return false;
    }
        
    return true;
}

HelloWorldPublisher::~HelloWorldPublisher()
{
    if (writer_ != nullptr)
    {
        publisher_->delete_datawriter(writer_);
    }    
    if (writer2 != nullptr)
    {
        publisher_->delete_datawriter(writer2);
    }
    if (publisher_ != nullptr)
    {
        participant_->delete_publisher(publisher_);
    }
    if (topic_ != nullptr)
    {
        participant_->delete_topic(topic_);
    }

    if (topic2 != nullptr) {
        participant_->delete_topic(topic2);
    }
    DomainParticipantFactory::get_instance()->delete_participant(participant_);

}

void HelloWorldPublisher::PubListener::on_publication_matched(
        eprosima::fastdds::dds::DataWriter* writer,
        const eprosima::fastdds::dds::PublicationMatchedStatus& info)
{
    std::cout << "topic1 matched count:" << info.total_count << std::endl;

    if (info.current_count_change == 1)
    {
        matched_ = info.total_count;
        first_connected_ = true;
        std::cout << "Publisher matched ..."<< writer->get_topic()->get_name() << std::endl;
    }
    else if (info.current_count_change == -1)
    {
        matched_ = info.total_count;
        std::cout << "Publisher unmatched..." << writer->get_topic()->get_name() << std::endl;
    }
    else
    {
        std::cout << info.current_count_change
                  << " is not a valid value for PublicationMatchedStatus current count change" << std::endl;
    }
}

bool HelloWorldPublisher::publish(TestString *data)
{
    if (listener_.first_connected_ || listener_.matched_ > 0)
    {        
        //WriteParams prms;
        writer_->write(data);
        return true;
    }
    return false;
}

void HelloWorldPublisher::pubArray(TestArray* data)
{
    if (listener_.first_connected_ || listener_.matched_ > 0) {
        writer_->write(&data);       
    }
}

void HelloWorldPublisher::publish2(TestString* data)
{
    if (listener2.matched_>0) {
        writer2->write(data);
    }
}

void HelloWorldPublisher::PubListener2::on_publication_matched(
    eprosima::fastdds::dds::DataWriter* writer, 
    const eprosima::fastdds::dds::PublicationMatchedStatus& info)
{
    std::cout << "topic2 matched count:" << info.total_count << std::endl;

    if (info.current_count_change == 1)
    {        
        matched_ = info.total_count;
        std::cout << "topic2 matched ..." << writer->get_topic()->get_name() << std::endl;
    }
    else if (info.current_count_change == -1)
    {
        matched_ = info.total_count;
        std::cout << "Publisher2 unmatched." << std::endl;
    }
    else
    {
        std::cout << info.current_count_change
            << " is not a valid value for PublicationMatchedStatus current count change" << std::endl;
    }
}
